Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields
Alessia Benevento,María Santos,Giuseppe Notarstefano,Kamran Paynabar,Matthieu Bloch,Magnus Egerstedt,Alessia Benevento,María Santos,Giuseppe Notarstefano,Kamran Paynabar,Matthieu Bloch,Magnus Egerstedt
We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts from Bayesian Optimization with Gaussian Processes that, when combined with control laws to achieve ce...
